Belgrade school of robotics

摘要

In the paper the milestone scientific results of Belgrade school of robotics are shortly presented. By some chronological order they are: zero moment point concept and semi-inverse method, recursive formulation of robot dynamics, computer-aided generation of robot dynamics in symbolic form, dynamic approach to trajectories generation of robotic manipulators, centralized feedforward control in robotics, robot dynamic control, decentralized control and observer applied to strongly coupled active mechanisms, force feedback in dynamic control of robots, decentralized control stability tests for robotic mechanisms, underactuated robotic systems, practical stability tests in robotics, unified approach to control laws synthesis for robot interacting -with dynamic environment, new approach to modeling and control of multi-arm cooperating robots interacting -with environment, connectionist algorithms for advanced learning control of robot interacting with dynamic environment, fuzzy logic robot control with model-based dynamic compensation, and internal redundancy - new -way to improve robot dynamic performances. .